diff --git a/.travis.yml b/.travis.yml
index 875b6abb77..5d2f15916e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,7 +7,7 @@ before_install:
   - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   - sudo add-apt-repository ppa:wpilib/toolchain -y
   - sudo apt-get update -q || true
-  - sudo apt-get install frc-toolchain libgazebo6-dev protobuf-compiler libprotobuf-dev -y
+  - sudo apt-get install frc-toolchain libgazebo7-dev protobuf-compiler libprotobuf-dev -y
 
 
 before_cache:
diff --git a/simulation/frc_gazebo_plugins/clock/src/clock.h b/simulation/frc_gazebo_plugins/clock/src/clock.h
index 0287ed15de..c2a52870fc 100644
--- a/simulation/frc_gazebo_plugins/clock/src/clock.h
+++ b/simulation/frc_gazebo_plugins/clock/src/clock.h
@@ -24,7 +24,7 @@ using namespace gazebo;
  * To add a clock to your robot, add the following XML to your robot
  * model:
  *
- *     <plugin name="my_clock" filename="libgz_clock.so">
+ *     <plugin name="my_clock" filename="libclock.so">
  *       <topic>~/my/topic</topic>
  *     </plugin>
  *
diff --git a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h
index 0a089dd1cb..3404706727 100644
--- a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h
+++ b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h
@@ -25,7 +25,7 @@ using namespace gazebo;
  * To add a DC motor to your robot, add the following XML to your
  * robot model:
  *
- *     <plugin name="my_motor" filename="libgz_dc_motor.so">
+ *     <plugin name="my_motor" filename="libdc_motor.so">
  *       <joint>Joint Name</joint>
  *       <topic>~/my/topic</topic>
  *       <multiplier>Number</multiplier>
diff --git a/simulation/frc_gazebo_plugins/encoder/src/encoder.h b/simulation/frc_gazebo_plugins/encoder/src/encoder.h
index 3b223f8afe..d9b01304fb 100644
--- a/simulation/frc_gazebo_plugins/encoder/src/encoder.h
+++ b/simulation/frc_gazebo_plugins/encoder/src/encoder.h
@@ -30,7 +30,7 @@ using namespace gazebo;
  * To add a encoder to your robot, add the following XML to your
  * robot model:
  *
- *     <plugin name="my_encoder" filename="libgz_encoder.so">
+ *     <plugin name="my_encoder" filename="libencoder.so">
  *       <joint>Joint Name</joint>
  *       <topic>~/my/topic</topic>
  *       <units>{degrees, radians}</units>
diff --git a/simulation/frc_gazebo_plugins/gyro/src/gyro.h b/simulation/frc_gazebo_plugins/gyro/src/gyro.h
index bdd2db2124..903dc7b5c3 100644
--- a/simulation/frc_gazebo_plugins/gyro/src/gyro.h
+++ b/simulation/frc_gazebo_plugins/gyro/src/gyro.h
@@ -29,7 +29,7 @@ typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
  * To add a gyro to your robot, add the following XML to your robot
  * model:
  *
- *     <plugin name="my_gyro" filename="libgz_gyro.so">
+ *     <plugin name="my_gyro" filename="libgyro.so">
  *       <link>Joint Name</link>
  *       <topic>~/my/topic</topic>
  *       <units>{degrees, radians}</units>
diff --git a/simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp b/simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp
index e58af2b67f..bd8761e808 100644
--- a/simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp
+++ b/simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp
@@ -8,15 +8,15 @@
 #include "external_limit_switch.h"
 
 ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
-  sensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(
+  sensor = std::dynamic_pointer_cast<sensors::ContactSensor>(
       sensors::get_sensor(sdf->Get<std::string>("sensor")));
 
   gzmsg << "\texternal limit switch: "
-        << " sensor=" << sensor->GetName() << std::endl;
+        << " sensor=" << sensor->Name() << std::endl;
 }
 
 ExternalLimitSwitch::~ExternalLimitSwitch() {}
 
 bool ExternalLimitSwitch::Get() {
-  return sensor->GetContacts().contact().size() > 0;
+  return sensor->Contacts().contact().size() > 0;
 }
diff --git a/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h b/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h
index 6f5f561634..318be8d0fc 100644
--- a/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h
+++ b/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h
@@ -36,7 +36,7 @@ using namespace gazebo;
  *
  * Internal:
  *
- *     <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
+ *     <plugin name="my_limit_switch" filename="liblimit_switch.so">
  *       <topic>~/my/topic</topic>
  *       <type>internal</type>
  *       <joint>Joint Name</joint>
@@ -47,7 +47,7 @@ using namespace gazebo;
  *
  * External:
  *
- *     <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
+ *     <plugin name="my_limit_switch" filename="liblimit_switch.so">
  *       <topic>~/my/topic</topic>
  *       <type>external</type>
  *       <sensor>Sensor Name</sensor>
diff --git a/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h b/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h
index 75fab23b38..1d93a9a83a 100644
--- a/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h
+++ b/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h
@@ -29,7 +29,7 @@ using namespace gazebo;
  * To add a pneumatic piston to your robot, add the following XML to
  * your robot model:
  *
- *     <plugin name="my_piston" filename="libgz_pneumatic_piston.so">
+ *     <plugin name="my_piston" filename="libpneumatic_piston.so">
  *       <joint>Joint Name</joint>
  *       <topic>~/my/topic</topic>
  *       <direction>{forward, reversed}</direction>
diff --git a/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h b/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h
index 3a5945e9cc..a9b46f33f1 100644
--- a/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h
+++ b/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h
@@ -22,7 +22,7 @@ using namespace gazebo;
  * To add a potentiometer to your robot, add the following XML to your
  * robot model:
  *
- *     <plugin name="my_pot" filename="libgz_potentiometer.so">
+ *     <plugin name="my_pot" filename="libpotentiometer.so">
  *       <joint>Joint Name</joint>
  *       <topic>~/my/topic</topic>
  *       <units>{degrees, radians}</units>
diff --git a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
index 81f61136b8..00210b889e 100644
--- a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
+++ b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
@@ -17,8 +17,6 @@
 #include <gazebo/sensors/sensors.hh>
 #include <gazebo/transport/transport.hh>
 
-#include <boost/pointer_cast.hpp>
-
 GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
 
 Rangefinder::Rangefinder() {}
@@ -29,7 +27,7 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
   this->model = model;
 
   // Parse SDF properties
-  sensor = boost::dynamic_pointer_cast<sensors::SonarSensor>(
+  sensor = std::dynamic_pointer_cast<sensors::SonarSensor>(
       sensors::get_sensor(sdf->Get<std::string>("sensor")));
   if (sdf->HasElement("topic")) {
     topic = sdf->Get<std::string>("topic");
@@ -37,8 +35,8 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
     topic = "~/" + sdf->GetAttribute("name")->GetAsString();
   }
 
-  gzmsg << "Initializing rangefinder: " << topic
-        << " sensor=" << sensor->GetName() << std::endl;
+  gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
+        << std::endl;
 
   // Connect to Gazebo transport for messaging
   std::string scoped_name =
@@ -56,6 +54,6 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
 
 void Rangefinder::Update(const common::UpdateInfo& info) {
   msgs::Float64 msg;
-  msg.set_data(sensor->GetRange());
+  msg.set_data(sensor->Range());
   pub->Publish(msg);
 }
diff --git a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h
index 3adfc5eed5..fca9a2b6a0 100644
--- a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h
+++ b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h
@@ -22,7 +22,7 @@ using namespace gazebo;
  * To add a rangefinder to your robot, add the following XML to your
  * robot model:
  *
- *     <plugin name="my_rangefinder" filename="libgz_rangefinder.so">
+ *     <plugin name="my_rangefinder" filename="librangefinder.so">
  *       <sensor>Sensor Name</sensor>
  *       <topic>~/my/topic</topic>
  *     </plugin>
diff --git a/simulation/frc_gazebo_plugins/servo/src/servo.cpp b/simulation/frc_gazebo_plugins/servo/src/servo.cpp
index 95839daa7e..1f988fe2c4 100644
--- a/simulation/frc_gazebo_plugins/servo/src/servo.cpp
+++ b/simulation/frc_gazebo_plugins/servo/src/servo.cpp
@@ -40,8 +40,8 @@ void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
     torque = 5;
   }
 
-  gzmsg << "initializing awesome servo: " << topic
-        << " joint=" << joint->GetName() << " torque=" << torque << std::endl;
+  gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
+        << " torque=" << torque << std::endl;
 
   // Connect to Gazebo transport for messaging
   std::string scoped_name =
diff --git a/simulation/frc_gazebo_plugins/servo/src/servo.h b/simulation/frc_gazebo_plugins/servo/src/servo.h
index 528f5b1675..925b707d7a 100644
--- a/simulation/frc_gazebo_plugins/servo/src/servo.h
+++ b/simulation/frc_gazebo_plugins/servo/src/servo.h
@@ -23,9 +23,10 @@ using namespace gazebo;
  * To add a servo to your robot, add the following XML to your robot
  * model:
  *
- *     <plugin name="my_servo" filename="libgz_servo.so">
+ *     <plugin name="my_servo" filename="libservo.so">
  *       <joint>Joint Name</joint>
  *       <topic>/gzebo/frc/simulator/pwm/1</topic>
+ *       <zero_position>0</zero_position>
  *     </plugin>
  *
  * - `link`: Name of the link the servo is attached to.